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Revision 9c0008d0

ID9c0008d04908747e904f4af7a5819eba03b9f7f1

Added by Leon over 6 years ago

Fixed CliffsensorControl, now actually part of Behaviors

View differences:

scout/libscout/src/CliffsensorControl.cpp
52 52
 * starts and initializes the cliffsensors. It then subscribes to the
53 53
 * cliff_status_changed topics
54 54
 **/
55
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node) : node(libscout_node)
55
CliffsensorControl::CliffsensorControl(const ros::NodeHandle& libscout_node,
56
                                  std::string scoutname) : node(libscout_node)
56 57
{
57 58
    /* Subscribe to the cliff_status_changed topic */
58 59
    cliff_status_changed_sub = node.subscribe("cliff_status_changed", 
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                                        QUEUE_SIZE, changed_cliff_status);
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                             QUEUE_SIZE, &CliffsensorControl::changed_cliff_status, this);
60 61

  
61 62
    ros::spin();
62 63
}
......
72 73
 */
73 74
void CliffsensorControl::changed_cliff_status(const cliffsensor::cliff_status_changed::ConstPtr& msg)
74 75
{
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    front_raw = msg.front_raw;
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    left_raw = msg.left_raw;
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    right_raw = msg.right_raw;
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    front_raw = msg->front_raw;
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    left_raw = msg->left_raw;
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    right_raw = msg->right_raw;
78 79
    return;
79 80
}
80 81

  

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